Parameter estimation for towed cable systems using moving horizon estimation

Liang Sun, Jeremy D. Castagno, John D. Hedengren, Randal W. Beard
2015 IEEE Transactions on Aerospace and Electronic Systems  
This paper presents a strategy for optimal estimation of parameters for towed cable systems using moving horizon estimation (MHE). The main contributions of the work include a novel formulation of MHE using a dead-band that explicitly rejects measurement noise, real-time implementation results, and the investigation of time varying stochastic disturbances as well as unknown yet constant disturbances. Further analysis is conducted on the observability and sensitivity of key parameters to
more » ... e which parameters can be estimated by the proposed approach using realtime streaming data from experiments. In addition to the real-time results, an offline multi-objective optimization is conducted to reveal the tradeoff between the computational burden and estimation variation. A Pareto frontier is used to demonstrate a series of optimal experimental configurations obtained by adjusting the model complexity (number of cable links and horizon steps). Finally, a multivariate parameter estimation is performed to explore the applicability of the proposed approach in simultaneously estimating multiple parameters. Index Terms Unmanned Aerial Vehicle (UAV), Parameter estimation, towed cable system, moving horizon estimation, aerial recovery, multi-objective optimization.
doi:10.1109/taes.2014.130642 fatcat:j4yjmicdvreo5gk5rtjnjyy5fa